harvest_arm_rm:
  ros__parameters:
    robot_ip: "192.168.1.19"
    host_ip: "192.168.1.101"

    robot_port: 8899
    port: 8089
    level: 3
    mode: 2

    prefix: ""
    left: true
    savefile_flg: true
    scissorgripper: -1

    tool_name: "scissor"

    max_velocity: 0.2
    max_acceleration: 0.5

    use_sim_time: false

    arm_installation: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    tools_in_ee.scissor: [
      0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
      0.66, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
    ]

    tools_in_ee.omnipic: [
      0.0, 0.0, 0.16, 0.0, 0.0, 0.0, 1.0,
      0.43, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
    ]

    tools_in_ee.minisci: [
      0.0, 0.0, 0.19, 0.0, 0.0, 0.0, 1.0,
      0.46, 0.0, 0.0, 0.06, 0.0, 0.0, 0.0
    ]

    tools_in_ee.no_tool: [
      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0,
      0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
    ]

    joint_max: [155.0, 115.0, 172.0, 130.0, 175.0, 125.0, 179.0]
    joint_min: [-155.0, -30.0, -172.0, -130.0, -175.0, -125.0, -179.0]

    bounds_p_right: [-0.35, 0.7, -0.7, 0.4, 0.32, 0.7]